Fadal 4020 Conversion Parts

1. x3 ASD-B3-2023-E 2kW, 3.1 kHz Bandwith, 24-bit encoder, EtherCAT
2. x3 ECM-B3M-EA1320RS1 2kW, Rated Torque: 9.55 (N-m), Maximum 28.65 (N-m)
3. x1 VFD49AMH23ANSHA VFD-MH300, 15HP, 11kw, (HD 49A), 3 Ø 230VAC, 2000Hz
4. x1 CMM-EC01 EtherCAT Communication Card -- Should likely be the CMM-EC02 for new installs
5. x1 EMM-PG01L Encoder Module

Useful Links

• https://github.com/LinuxCNC/linuxcnc
• https://github.com/kcjengr/probe_basic/tree/main
• https://github.com/kcjengr/qtpyvcp
• https://github.com/persei802/QtDragon_hd/
• http://tom-itx.no-ip.biz:81/~webpage/cnc/configs/NEW_MILL_SHOP_2.8.4/ -- Axis config with side panel
• https://github.com/cakeslob/regularmac_800 -- modded axis gui -- could be starting point

Basic Install Steps

1. Install linuxCNC which as of now is https://www.linuxcnc.org/iso/LinuxCNC_2.9.2-amd64.hybrid.iso from https://linuxcnc.org/downloads/

   • The default image from downloads is actually from RodW as of today 1/17/2024 and includes the repos for Probe Basic + EtherCAT https://forum.linuxcnc.org/9-installing-linuxcnc/49819-debian-12-bookworm-live-installer-iso-for-linuxcnc-x86-64

   If like me upon trying to update / upgrade you get errors about raspi-firmware then run these lines... as explained here

   rm /etc/{initramfs/post-update.d/,kernel/{postinst.d/,postrm.d/}}z50-raspi-firmware
   apt purge raspi-firmware
   

2. Install EtherCAT https://forum.linuxcnc.org/ethercat/45336-ethercat-installation-from-repositories-how-to-step-by-step

   -- you dont need to run the hidden (spoiler) commands on that page

   -- you may have to create the dev directory in your home folder - I did not have one

   -- after sudo halcompile --install cia402.comp you should be able to move onto the next step of testing with the Delta B3 config from gchesney

3. Example Delta B3 config https://github.com/gchesney/linuxcnc-asda-b3-e-configs

   • Adjust "setp cia402.0.pos-scale 16777216" in ethercat-test.hal to have some visible movement - this makes 1 revolution = 1 inch in the example
   • Delta ASDA-Soft to disable the limits + emergency stop inputs if you desire
     • P2.011 through 13 to disabled - otherwise you will always have the AL013 alarm - you should have Estop in a real machine
     • If running from a single phase supply during testing you will also have to disable some of the low voltage alarms..

EtherCAT Notes

• ethercat slaves shows the slaves connected to the master
• ethercat master will show some statistics of the master
• ethercat cstruct and ethercat pdos are extremely useful commands for checking your network
• Setup guide - I did not use this for building from source - but the getting started with hardware part is good -https://www.forum.linuxcnc.org/ethercat/49771-ethercat-build-from-source-full-instructions

Linux Setup Notes

• XRDP works okay as remote desktop server
  • the user needs to be logged out locally to be able to login via RDP

Delta B3 Servo Notes

• Delta files download
  • Delta ASDA-Soft allows you to configure 1000s of settings and view very useful debugging information on the drives
  • I havent found out how to actually get the firmware update files - maybe they must be requested from Delta..

Delta VFD Notes

• Delta files download
  • Delta ASDA-Soft allows you to configure 1000s of settings and view very useful debugging information on the drives
  • I havent found out how to actually get the firmware update files - maybe they must be requested from Delta..
  • Settings:
    • 09-01 MODBUS baud rate to 115.2 to speed up settings changes

LinuxCNC Notes

• The HAL Scope is cool!! Use the x-drv-act-velo to get some neat torque curves

• USB isolator to avoid encoder errors while configuring drive via USB, I assume from ground loops https://www.aliexpress.us/item/3256801182770545.html